.TH IOCONTROL "1" "2007-08-25" "LinuxCNC Documentation" "HAL Component" 
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.SH NAME
iocontrol \- accepts NML I/O commands, interacts with HAL in userspace

.SH SYNOPSIS
\fBloadusr io [-ini \fIinifile\fB]


.SH DESCRIPTION
These pins are created by the userspace IO controller, usually found in $LINUXCNC_HOME/bin/io
.P
The signals are turned on and off in userspace - if you have strict timing requirements or simply need more i/o, consider using the realtime synchronized i/o provided by \fBmotion\fR(9) instead.
.P
The inifile is searched for in the directory from which halcmd was run, unless an absolute path is specified.

.SH PINS

.TP
\fBiocontrol.0.coolant-flood
(Bit, Out) TRUE when flood coolant is requested

.TP
\fBiocontrol.0.coolant-mist 
(Bit, Out) TRUE when mist coolant is requested

.TP
\fBiocontrol.0.emc-enable-in 
(Bit, In) Should be driven FALSE when an external estop condition exists.

.TP
\fBiocontrol.0.lube 
(Bit, Out) TRUE when lube is requested.  This pin gets driven True when
the controller comes out of E-stop, and when the "Lube On" command gets
sent to the controller.  It gets driven False when the controller goes
into E-stop, and when the "Lube Off" command gets sent to the controller.

.TP
\fBiocontrol.0.lube_level 
(Bit, In) Should be driven FALSE when lubrication tank is empty.

.TP
\fBiocontrol.0.tool-change 
(Bit, Out) TRUE when a tool change is requested

.TP
\fBiocontrol.0.tool-changed 
(Bit, In) Should be driven TRUE when a tool change is completed.

.TP
\fBiocontrol.0.tool-number
(s32, Out) Current tool number

.TP
\fBiocontrol.0.tool-prep-number 
(s32, Out) The number of the next tool, from the RS274NGC T-word

.TP
\fBiocontrol.0.tool-prep-pocket
(s32, Out) The pocket number (location in tool storage mechanism) of the next tool, as described in the tool table

.TP
\fBiocontrol.0.tool-prepare 
(Bit, Out) TRUE when a T\fIn\fR tool prepare is requested

.TP
\fBiocontrol.0.tool-prepared 
(Bit, In) Should be driven TRUE when a tool prepare is completed.

.TP
\fBiocontrol.0.user-enable-out 
(Bit, Out) FALSE when an internal estop condition exists

.TP
\fBiocontrol.0.user-request-enable 
(Bit, Out) TRUE when the user has requested that estop be cleared

.SH SEE ALSO
\fBmotion\fR(9)

